CN207600967U - A kind of device for wind power plant blade surface defects detection - Google Patents
A kind of device for wind power plant blade surface defects detection Download PDFInfo
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- CN207600967U CN207600967U CN201721627260.7U CN201721627260U CN207600967U CN 207600967 U CN207600967 U CN 207600967U CN 201721627260 U CN201721627260 U CN 201721627260U CN 207600967 U CN207600967 U CN 207600967U
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Abstract
The utility model provides a kind of device for wind power plant blade surface defects detection, belongs to technical field of wind power generation.It includes unmanned plane routing inspection unit, diagnosis unit and host computer unit；Unmanned plane routing inspection unit includes unmanned plane, and vision positioning module, data transmission module, image information transmission module, range finder module, twin-lens holder camera, locating module, fixed high module and flight control modules are provided on unmanned plane；Twin-lens holder camera is used to acquire flabellum stereo-picture；Flight control modules include course line predetermined module and electric power detection module, and for unmanned plane to be controlled to carry out inspection according to setting course line, electric power detection module is used to detect unmanned plane battery capacity in real time course line predetermined module.Using the device described in the utility model for wind power plant blade surface defects detection, have routing inspection efficiency high, substantially reduce number and monitoring time needed for wind power plant inspection, save manpower O＆M cost, there is higher economic benefit.
Description
Technical field
The utility model is related to a kind of devices for wind power plant blade surface defects detection, belong to wind generating technology neck
Domain.
Background technology
Environment and energy crisis are just gradually aggravated, and the wind energy resources as renewable resource are big with its reserves, renewable,
It is widely distributed, it the advantages such as does not pollute and is rapidly developed in the whole world.THE WIND ENERGY RESOURCES IN CHINA is enriched, and land is liftoff, and 10m height can be developed
2.53 hundred million kw of reserves, sea can 7.5 hundred million kw of development reserves, total amount is about 1,000,000,000 kw, therefore it is pollution-free, renewable to be dedicated to China
The development of wind-powered electricity generation construction be significantly.Ended for the end of the year 2015, China has checked and approved Jiuquan base, Zhangjiakou base, interior
2140.2 ten thousand kilowatts of capacity, while distributing are checked and approved in 10 large-scale wind electricity bases such as Mongolian Bayan muir Wulate Middle Banner base
Wind power plant has checked and approved 15 projects, checks and approves capacity up to 76.2 ten thousand kilowatts；What offshore wind farm Program in China was completed amounts to
657.88MW has huge developing market.
From the point of view of the composition of wind power generating set, blade is a wherein very important part.For operation, wind energy is not
It can effectively be captured and tend to rely on whether blade has good aerodynamic appearance and other superior functions；From into
For this, in the total installed capacity cost of nearly 20 kinds parts of entire Wind turbines, blade occupies 23.3%, more than five/
First, close to the huge ratio of a quarter.It is necessary to have high intensity, high rigidity, low-density because of the influence of its working environment for blade
And the material manufacture of the good characteristics such as longer service life.Although people make many efforts on the material of blade, from
Previous Wooden vane evolves to girder steel glass fibre covering blade（Fiberglass blade）, composite material blade it is even most advanced
Novel composite material blade, but can not still make fan blade far from surface defect.Because no matter blade is in processing, fortune
Defeated, installation or working condition can generate various surface defect damages（Such as gel coat cracking, sand holes cavity, crackle
Deng）If the defects of blade is small will lead to crack growth, Large Area Cracking, seriously without finding and carrying out professional reparation in time
When, the generation of leaf destruction accident is resulted even in, thus brings heavy economic losses to wind field owner.Along with wind turbine work
Mostly in remote complexity, the high island of natural calamity incidence, beach or mountain stream, blade of wind-driven generator are faced in the place of work
Damage risk can also greatly increase.This carries out blade of wind-driven generator with regard to more having highlighted the necessity of surface defects detection
And importance.
The fan blade detection method of surface flaw of present distinguishes sound, telescope observation in addition to ground taps, and exactly transports
Skilled maintenance teacher is sent closely to be estimated to blade height, is taken time and effort and dangerous, precision cannot guarantee that.
Utility model content
A kind of high the technical problem to be solved by the utility model is to provide precision and reduction operating personnel's danger use
In the device of wind power plant blade surface defects detection.
In order to solve the above-mentioned technical problem, the utility model provides a kind of for wind power plant blade surface defects detection
Device, the unmanned plane routing inspection unit including being used to acquire wind power plant blade surface defect image, for unmanned plane routing inspection unit
The diagnosis unit that the image passed back is analyzed and the diagnosis report for receiving diagnosis unit, and diagnosis report passed through wireless
Operation management platform is transmitted to, while the host computer unit of inspection instruction is sent out to unmanned plane routing inspection unit, the unmanned plane patrols
Inspection unit, diagnosis unit and host computer unit pass through wireless connection；
The unmanned plane routing inspection unit includes unmanned plane, and vision positioning module, data transmission are provided on the unmanned plane
Module, image information transmission module, range finder module, holder camera, locating module, fixed high module and flight control modules；
The holder camera is twin-lens holder camera, and the twin-lens holder camera is believed for acquiring flabellum stereo-picture
Breath；The holder camera is connect by image information transmission module with diagnosis unit；
The vision positioning module, range finder module, holder camera, locating module, fixed high module pass through data transmission module
It is connect respectively with diagnosis unit and host computer unit；
The flight control modules include course line predetermined module and electric power detection module, and the course line predetermined module is used to control
Unmanned plane processed carries out inspection according to setting course line, and the electric power detection module is for detection unmanned plane battery capacity in real time.
Further, the diagnosis unit includes image library module, defect diagonsis module, information transmission modular；The figure
As library module is used to store the image that unmanned plane routing inspection unit passes back；The defect diagonsis module is used for unmanned plane routing inspection unit
The image passed back carries out defect analysis processing, forms defects detection report；Described information transmission module is used for defects detection report
It accuses and corresponding defect image is by being wirelessly transmitted to host computer unit.
Further, the host computer unit includes control centre and data analysis module；The control centre is used to connect
The defects of being sent out by diagnosis unit examining report and defect image, and pass through wireless data transmission to distal end operation management platform；
The control centre is additionally operable to send out unmanned plane routing inspection unit inspection instruction；The data analysis module is used for analyzing and diagnosing list
The defects of member generates examining report and defect image judge easy the defects of occurring region and defect period.
Further, the locating module is GPS navigation module or Beidou navigation module or GLONASS navigation module.
Further, the fixed high module determines high module for barometer.
Further, the range finder module is ultrasonic distance measuring module.
Further, the holder camera is three-axis stability augmentation high-definition tripod camera.
The utility model has the following advantages that compared with prior art：
（1）Device described in the utility model for wind power plant blade surface defects detection is carried out by using unmanned plane
System carries out defects detection to blade surface, has the advantages that mobility is high, and flight can not be by ground obstacle in the air
Deng restraint of liberty movement, it is vast for wind power plant area, the features such as hypsography, bad environments, can detect leaf in time
The defects of piece surface is small is damaged（Such as scratch, spot）And professional reparation is carried out, it can effectively reduce developing into serious damage in this way
Wound（Such as crack, sand holes）And the probability that fan trouble is caused to be shut down, so as to which wind energy energy loss be greatly reduced, improve hair
Electricity.Using the device described in the utility model for wind power plant blade surface defects detection, have routing inspection efficiency high, substantially contract
Number and monitoring time needed for checking electric field inspection save manpower O＆M cost, have the advantages that higher economic benefit.
（2）Device described in the utility model for wind power plant blade surface defects detection, by setting the pre- cover half in course line
Block and electric power detection module by pre-set course line, can make patrol officer control flight in real time, carry out inspection and appoint
Business；By setting electric power detection module, battery capacity can be detected in real time, if electricity is less than alarming value, flight control modules note
Lower current location and to host computer unit transmission of location information and the prompt message of not enough power supply, unmanned plane flies back and takes off automatically
Point after replacing battery, opens the unmanned plane of patrol task, and unmanned plane receives the location information of host computer unit record automatically, flies
Patrol task is continued to execute to tasks interrupt position, there is efficient detection；In addition, host computer unit sets data analysis
Module, the defects of being generated according to diagnosis unit examining report and defect image, with reference to big data analysis, judge easily to go out
It existing defect area and defect period, effectively can effectively be detected to easily there is the position of defect in this way, it can be further
Maintenance efficiency is improved, saves a large amount of maintenance cost.
Description of the drawings
Fig. 1 is the schematic device of wind power plant blade surface defects detection described in the utility model；
Fig. 2 is unmanned plane routing inspection unit schematic diagram described in the utility model；
Fig. 3 is diagnosis unit schematic diagram described in the utility model；
Fig. 4 is host computer cell schematics described in the utility model.
Reference sign：
1. unmanned plane routing inspection unit；2. diagnosis unit；3. host computer unit；
11. unmanned plane；12. vision positioning module；13. data transmission module；
14. image information transmission module；15. range finder module；16. holder camera；17. locating module；18. fixed high module；
19. flight control modules；
21. image library module；22. defect diagonsis module；23. information transmission modular;
31. control centre；32. data analysis module.
Specific embodiment
With reference to embodiments, the utility model is further described in detail, but not limited to this.
The device of wind power plant blade surface defects detection is used for described in the present embodiment, as shown in Figure 1, being patrolled including unmanned plane
Unit 1 is examined, diagnosis unit 2 and host computer unit 3, the unmanned plane routing inspection unit 1, diagnosis unit 2 and host computer unit 3 pass through
Wireless connection；
As shown in Fig. 2, the unmanned plane routing inspection unit 1 includes unmanned plane 11, carrying vision on the unmanned plane 11 determines
Position module 12, data transmission module 13, image information transmission module 14, range finder module 15, holder camera 16, locating module 17,
Fixed high module 18 and flight control modules 19.
Wherein, the holder camera 16 is preferably three-axis stability augmentation high definition twin-lens holder camera, using the three-axis stability augmentation
High definition twin-lens holder camera can acquire flabellum stereo image information, and stereo image information is transmitted mould by image information
Block 14 is transmitted back to diagnosis unit 2.
Wherein, the vision positioning module 12 is used for Image Adjusting unmanned plane 11 of the ground handling operator according to vision module
Hovering posture, makes unmanned plane hover over the angles and positions for being conducive to take pictures.
Wherein, the data transmission module 13 uses 3DRobotics data transmission modules, has long transmission distance, transmission
Fireballing advantage.
Wherein, described image information transmission modular 14 uses RC832S+TS832 receiver-transmitter integrated modules.
Wherein, the range finder module 15 uses KS109 transceiver ultrasonic distance measuring modules, for detecting unmanned plane inspection
The distance of unit 1 and the flabellum that is taken, meanwhile, defective locations knead dough is realized in range measurement of the range finder module 15 to Defect Edge
Long-pending calculating.
Wherein, the locating module 17 can select GPS navigation module, Beidou navigation module or GLONASS navigation module
In any one, in present embodiment be preferably GPS navigation module, with obtain unmanned plane 11 location information and by nobody
The location information of the flabellum of 1 inspection of machine routing inspection unit.
Wherein, the fixed high 18 selected as barometer of module determines high module, and the fixed high module 18 is used to measure unmanned plane
11 flying height, and altitude information is transferred to flight control center 19, the flight control center 19 is according to surely high module
18 data correct the flying height of unmanned plane with course line predetermined module comparing.
Wherein, the flight control modules 19 include course line predetermined module and electric power detection module, the pre- cover half in course line
Block is for controlling unmanned plane 11 to carry out inspection according to prebriefed pattern, and the electric power detection module is for 11 electricity of detection unmanned plane in real time
Pond electricity.
In present embodiment, as shown in figure 3, further preferably the diagnosis unit 2 includes image library module 21, defect is examined
Disconnected module 22, information transmission modular 23.
Wherein, described image library module 21 is used to store the image that unmanned plane routing inspection unit 1 is passed back.
Wherein, the defect diagonsis module 22 is used to carry out at defect analysis the image that unmanned plane routing inspection unit 1 is passed back
Reason forms defects detection report；The application frangi vesselness screenings of defect diagonsis module described in present embodiment 22
The enhancing of the defects of fan blade image is made defect significantly change by device technology；It is reduced using bilateral filtering technology in image acquisition
In the process by distortion caused by various noise on image, and then judging result is influenced, using meanshift technologies to defect mesh
Mark is tracked, and finally defect image is identified under the basis of big data classification using svm classifier techniques, most throughout one's life
Into examining report the defects of defect type containing flabellum and flabellum defect size.
Described information transmission module 23 is used for defects detection report and corresponding defect image is supreme by being wirelessly transferred
Position machine unit 3.
In present embodiment, as shown in figure 4, host computer unit 3 includes control centre 31 and data analysis module 32.
The control centre 31 is additionally operable to connect for receiving the defects of diagnosis unit 2 is sent out examining report and defect image
By the location information of unmanned plane, and pass through wireless data transmission to distal end operation management platform.
The control centre 31 is additionally operable to send out unmanned plane routing inspection unit 1 inspection instruction.
The defects of data analysis module 32 generates for analyzing and diagnosing unit 2 examining report and defect image judge
The defects of wind power plant blade surface easily occurs region and defect period.
The above embodiment when in use, comprises the following specific steps that：
（1）The setting of cruise course line：By host computer unit 3 in advance to the flight control modules in unmanned plane routing inspection unit 1
19 course line predetermined module setting inspection course line, which can be stored in course line predetermined module for a long time.
（2）Patrol task starts：Operating personnel send out inspection instruction in host computer unit 3, and unmanned plane routing inspection unit 1 passes through
Data transmission module 13 receives the patrol task instruction of host computer unit 3, by pre-set course line or has operating personnel
By the control flight in real time of host computer unit 3, patrol task is carried out.
（3）Wind power plant blade surface defect image acquires：It is set by course line, unmanned plane 11 flies to wind turbine position to be inspected
It puts, flight control modules 19, to 3 transmission of location information of host computer unit, prompt host computer unit 3 by data transmission module 13
Reach precalculated position；Operating personnel open vision positioning module 12, nobody is adjusted according to the image information of vision positioning module 12
Machine 11 hovers over the angles and positions suitable for taking pictures；Operating personnel are referred to by host computer unit 3 to the transmission of unmanned plane routing inspection unit 1
It enables, 16 auto-focusing shooting inspection flabellum image of instruction holder camera, and image information is passed through into image information transmission module 14
Diagnosis unit 2 is transmitted back to, image location information back host computer unit 3 is passed by data transmission module 13, is repeated in above-mentioned
Process.
It is described when the electric power detection module detection battery capacity set on the flight control modules 19 is less than setting value
Flight control modules 19 acquire current location information and pass through data transmission module 13 to 3 transmission of location information of host computer unit simultaneously
It is stored in control centre 31；Unmanned plane 11 flies back takeoff point automatically, replaces battery and opens unmanned plane inspection, unmanned plane inspection list
The instruction that member 1 receives the control centre 31 of host computer unit 3 automatically continues to execute patrol task by prebriefed pattern setting.
（4）Fan leaf defect diagnoses automatically：Diagnosis unit 2 carries out the image file that unmanned plane routing inspection unit 1 is passed back
Analyzing and processing using frangi vesselness screening washers technologies by the enhancing of the defects of fan blade image, makes defect bright
It is clear；It is reduced in image acquisition procedures by distortion, Jin Erying caused by various noise on image using bilateral filtering technology
Judging result is rung, defect target is tracked using meanshift technologies, finally using svm classifier techniques in big data
Basis under defect image is identified classification, ultimately generate the examining report containing defect type and defect size.
（5）Inspection result is fed back：Examining report and corresponding blade surface image are passed through information transmission modular by diagnosis unit 2
23 are transferred to host computer unit 3, host computer unit 3 by wireless data transmission to distal end operation management platform, administrative staff according to
Maintenance task is assigned according to examining report, the blade of existing defects is repaired；Meanwhile the data analysis mould of host computer unit 3
The data that block 32 transmits diagnosis unit 2 are analyzed, and easily occur defect area to blade and defect period etc. occur with blade
Make effectively analysis and prediction.
Obviously, the above embodiments are merely examples for clarifying the description, and is not intended to limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments, and the obvious variation thus extended out or
It changes still among the utility model creation scope of the claims.
Claims (7)
1. a kind of device for wind power plant blade surface defects detection acquires wind power plant blade surface defect image including being used for
Unmanned plane routing inspection unit（1）, for unmanned plane routing inspection unit（1）The diagnosis unit that the image passed back is analyzed（2）With
For receiving diagnosis unit（2）Diagnosis report, and by diagnosis report by being wirelessly transmitted to operation management platform, while to nothing
Man-machine routing inspection unit（1）Send out the host computer unit of inspection instruction（3）, the unmanned plane routing inspection unit（1）, diagnosis unit（2）
With host computer unit（3）Pass through wireless connection；It is characterized in that：
The unmanned plane routing inspection unit（1）Including unmanned plane（11）, the unmanned plane（11）On be provided with vision positioning module
（12）, data transmission module（13）, image information transmission module（14）, range finder module（15）, holder camera（16）, locating module
（17）, fixed high module（18）And flight control modules（19）；
The holder camera（16）For twin-lens holder camera, the twin-lens holder camera is used to acquire flabellum stereo-picture；
The holder camera（16）Pass through image information transmission module（14）With diagnosis unit（2）Connection；
The vision positioning module（12）, range finder module（15）, holder camera（16）, locating module（17）, fixed high module（18）
Pass through data transmission module（13）Respectively with diagnosis unit（2）With host computer unit（3）Connection；
The flight control modules（19）Including course line predetermined module and electric power detection module, the course line predetermined module is used to control
Unmanned plane processed（11）Inspection is carried out according to setting course line, the electric power detection module is for detection unmanned plane in real time（11）Battery electricity
Amount.
2. it to be used for the device of wind power plant blade surface defects detection according to claim 1, which is characterized in that the diagnosis is single
Member（2）Including image library module（21）, defect diagonsis module（22）, information transmission modular（23）；
Described image library module（21）For storing unmanned plane routing inspection unit（1）The image passed back；
The defect diagonsis module（22）For to unmanned plane routing inspection unit（1）The image passed back carries out defect analysis processing, shape
It is reported into defects detection；
Described information transmission module（23）For defects detection report and corresponding defect image is upper by being wirelessly transmitted to
Machine unit（3）.
3. the device according to claim 1 or claim 2 for wind power plant blade surface defects detection, which is characterized in that host computer
Unit（3）Including control centre（31）And data analysis module（32）；
The control centre（31）For receiving diagnosis unit（2）The defects of sending out examining report and defect image, and pass through nothing
Line number evidence is transmitted to distal end operation management platform；
The control centre（31）It is additionally operable to unmanned plane routing inspection unit（1）Send out inspection instruction；
The data analysis module（32）For analyzing and diagnosing unit（2）The defects of generation examining report and defect image, judge
The defects of easily occurring region and defect period.
4. it to be used for the device of wind power plant blade surface defects detection according to claim 3, which is characterized in that the positioning mould
Block（17）For GPS navigation module or Beidou navigation module or GLONASS navigation module.
5. it to be used for the device of wind power plant blade surface defects detection according to claim 4, which is characterized in that the Ding Gaomo
Block（18）Determine high module for barometer.
6. it to be used for the device of wind power plant blade surface defects detection according to claim 5, which is characterized in that the ranging mould
Block（15）For ultrasonic distance measuring module.
7. it to be used for the device of wind power plant blade surface defects detection according to claim 6, which is characterized in that the holder phase
Machine（16）For three-axis stability augmentation high-definition tripod camera.
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| CN201721627260.7U CN207600967U (en) | 2017-11-29 | 2017-11-29 | A kind of device for wind power plant blade surface defects detection |
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| CN201721627260.7U CN207600967U (en) | 2017-11-29 | 2017-11-29 | A kind of device for wind power plant blade surface defects detection |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109060826A (en) * | 2018-08-16 | 2018-12-21 | 大连维德集成电路有限公司 | A kind of non-stop-machine wind electricity blade detection device |
| CN109131895A (en) * | 2018-07-27 | 2019-01-04 | 上海扩博智能技术有限公司 | Unmanned plane carry device, unmanned plane and the method for detection are automatically tracked for blade |
| CN109470712A (en) * | 2018-12-23 | 2019-03-15 | 北京汉文景科技有限公司 | A kind of wind electricity blade detection system |
| CN109490310A (en) * | 2018-10-18 | 2019-03-19 | 广州建设工程质量安全检测中心有限公司 | A kind of curtain wall monitoring system based on unmanned plane |
| CN109741320A (en) * | 2019-01-07 | 2019-05-10 | 哈尔滨理工大学 | A kind of wind electricity blade fault detection method based on Aerial Images |
| CN110007690A (en) * | 2019-05-08 | 2019-07-12 | 北京天龙智控科技有限公司 | A kind of unmanned plane cruising inspection system and method |
| CN110244761A (en) * | 2019-06-10 | 2019-09-17 | 北京工业大学 | A kind of building damage check flight intelligent robot equipment based on the collaboration of cloud side |
| CN110282143A (en) * | 2019-06-14 | 2019-09-27 | 中国能源建设集团广东省电力设计研究院有限公司 | A kind of marine wind electric field unmanned plane method for inspecting |
| CN110282130A (en) * | 2019-04-29 | 2019-09-27 | 北京工业大学 | A kind of corrosion of steel structure detection high-altitude flight intelligent robot based on cloud computing |
| CN110701003A (en) * | 2019-11-20 | 2020-01-17 | 山东理工大学 | Automatic detection system and detection method for defects of blades of wind turbine generator |
| CN111038721A (en) * | 2019-12-30 | 2020-04-21 | 无锡风电设计研究院有限公司 | Wind turbine blade inspection unmanned aerial vehicle and inspection method based on image recognition |
| CN111198004A (en) * | 2020-01-06 | 2020-05-26 | 华北电力大学（保定） | Electric power inspection information acquisition system based on unmanned aerial vehicle |
| CN111830845A (en) * | 2020-04-30 | 2020-10-27 | 航天图景（北京）科技有限公司 | Automatic inspection simulation system and method for fan blade of unmanned aerial vehicle |
| CN112801432A (en) * | 2019-10-25 | 2021-05-14 | 北京国电思达科技有限公司 | Fan unit blade intelligent inspection system and fan unit blade inspection method |
| CN112947511A (en) * | 2021-01-25 | 2021-06-11 | 北京京能能源技术研究有限责任公司 | Method for inspecting fan blade by unmanned aerial vehicle |
| CN115319398A (en) * | 2022-08-22 | 2022-11-11 | 上海工程技术大学 | Automatic shape repairing method for repairing defects of fan blade |
| CN112801432B (en) * | 2019-10-25 | 2024-05-10 | 北京国电思达科技有限公司 | Intelligent inspection system for fan set blades and inspection method for fan set blades |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109131895A (en) * | 2018-07-27 | 2019-01-04 | 上海扩博智能技术有限公司 | Unmanned plane carry device, unmanned plane and the method for detection are automatically tracked for blade |
| CN109060826A (en) * | 2018-08-16 | 2018-12-21 | 大连维德集成电路有限公司 | A kind of non-stop-machine wind electricity blade detection device |
| CN109060826B (en) * | 2018-08-16 | 2021-07-09 | 大连维德集成电路有限公司 | Wind-powered electricity generation blade detection device that does not shut down |
| CN109490310A (en) * | 2018-10-18 | 2019-03-19 | 广州建设工程质量安全检测中心有限公司 | A kind of curtain wall monitoring system based on unmanned plane |
| CN109470712A (en) * | 2018-12-23 | 2019-03-15 | 北京汉文景科技有限公司 | A kind of wind electricity blade detection system |
| CN109741320A (en) * | 2019-01-07 | 2019-05-10 | 哈尔滨理工大学 | A kind of wind electricity blade fault detection method based on Aerial Images |
| CN110282130A (en) * | 2019-04-29 | 2019-09-27 | 北京工业大学 | A kind of corrosion of steel structure detection high-altitude flight intelligent robot based on cloud computing |
| CN110007690A (en) * | 2019-05-08 | 2019-07-12 | 北京天龙智控科技有限公司 | A kind of unmanned plane cruising inspection system and method |
| CN110244761A (en) * | 2019-06-10 | 2019-09-17 | 北京工业大学 | A kind of building damage check flight intelligent robot equipment based on the collaboration of cloud side |
| CN110282143A (en) * | 2019-06-14 | 2019-09-27 | 中国能源建设集团广东省电力设计研究院有限公司 | A kind of marine wind electric field unmanned plane method for inspecting |
| CN110282143B (en) * | 2019-06-14 | 2022-09-27 | 中国能源建设集团广东省电力设计研究院有限公司 | Inspection method for offshore wind farm unmanned aerial vehicle |
| CN112801432A (en) * | 2019-10-25 | 2021-05-14 | 北京国电思达科技有限公司 | Fan unit blade intelligent inspection system and fan unit blade inspection method |
| CN112801432B (en) * | 2019-10-25 | 2024-05-10 | 北京国电思达科技有限公司 | Intelligent inspection system for fan set blades and inspection method for fan set blades |
| CN110701003A (en) * | 2019-11-20 | 2020-01-17 | 山东理工大学 | Automatic detection system and detection method for defects of blades of wind turbine generator |
| CN111038721B (en) * | 2019-12-30 | 2023-10-10 | 无锡风电设计研究院有限公司 | Unmanned aerial vehicle for inspecting wind turbine blade based on image recognition and inspection method |
| CN111038721A (en) * | 2019-12-30 | 2020-04-21 | 无锡风电设计研究院有限公司 | Wind turbine blade inspection unmanned aerial vehicle and inspection method based on image recognition |
| CN111198004A (en) * | 2020-01-06 | 2020-05-26 | 华北电力大学（保定） | Electric power inspection information acquisition system based on unmanned aerial vehicle |
| CN111830845A (en) * | 2020-04-30 | 2020-10-27 | 航天图景（北京）科技有限公司 | Automatic inspection simulation system and method for fan blade of unmanned aerial vehicle |
| CN112947511A (en) * | 2021-01-25 | 2021-06-11 | 北京京能能源技术研究有限责任公司 | Method for inspecting fan blade by unmanned aerial vehicle |
| CN115319398B (en) * | 2022-08-22 | 2023-06-20 | 上海工程技术大学 | Automatic repairing method for repairing defects of fan blades |
| CN115319398A (en) * | 2022-08-22 | 2022-11-11 | 上海工程技术大学 | Automatic shape repairing method for repairing defects of fan blade |
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